Planner Server
Source code on Github.
The Planner Server implements the server for handling the planner requests for the stack and host a map of plugin implementations.
It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal.
Parameters
planner_plugins: |
|
Type |
Default |
vector<string> |
[‘GridBased’] |
- Description
List of Mapped plugin names for parameters and processing requests.
- Note
Each plugin namespace defined in this list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.
Example:
planner_server:
ros__parameters:
planner_plugins: ["GridBased"]
GridBased:
plugin: "nav2_navfn_planner/NavfnPlanner"
|
expected_planner_frequency: |
|
Type |
Default |
double |
[20.0] |
- Description
Expected planner frequency. If the current frequency is less than the expected frequency, display the warning message.
|
Default Plugins
When the planner_plugins
parameter is not overridden, the following default plugins are loaded:
Namespace |
Plugin |
“GridBased” |
“nav2_navfn_planner/NavfnPlanner” |
Example
planner_server:
ros__parameters:
expected_planner_frequency: 20.0
planner_plugins: ['GridBased']
GridBased:
plugin: 'nav2_navfn_planner/NavfnPlanner'